产品概述
描述
Sim2Real IMU sensor provides a practical path to integrate ST IMU behavior into NVIDIA Isaac Sim with minimal setup effort. By combining graphical insertion, model-based configuration, and physics-driven realistic inertial sensor output generation, it helps accelerate simulation-based development and verification workflows for robotics teams using ST inertial sensing concepts in digital environments.
The software creates a custom IMU prim under the selected robot link and marks it visually in the viewport for quick inspection. During simulation, the extension reads clean inertial truth from the corresponding Isaac IMU, applies the Sim2Real native model, and publishes the resulting realistic measurements as custom data on the spawned prim.
This approach is intended to help robotics and perception teams evaluate software stacks against more realistic inertial sensor behavior without requiring custom scripting each time a sensor is added to a scene.
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所有功能
- Key benefits
- Accelerates IMU simulation setup in NVIDIA Isaac Sim through native Create → Sensors menu integration
- Brings ST IMU model behavior into robotic digital twins with configurable sampling rate, full-scale ranges, and vibration enablement
- Supports repeatable verification workflows by comparing realistic inertial Sim2Real output against clean Isaac IMU truth data
- Main features
- Native menu integration inside Isaac Sim
- Automatic attachment to the currently selected stage prim
- Visible sensor marker in the 3D viewport
- Physics-step-driven runtime with output data rate scheduling
- JSON-based model configuration for supported IMUs
- Realistic noise-augmented acceleration and gyroscope output generation
- Verification scripts for trajectory logging and plot generation
- Key benefits